Why does the torque equation of the BLDC motor block resolves using the dq0 and abc reference frame

Refers to the BLDC block:

The torque equation consists of two summands; the left summend refers to the dq0 reference frame (using the currents id and iq) the second summand uses the abc reference frame (applying the ia, ib and ic currents).

Doing a mathematical derivation of this torque equation in order to implement it using Simscape blocks, it can't be finally resolved due to unresolved dependencies either using the dq0 reference frame or the abc reference frame.

Please see attached screenshot, providing more details and explanations.